A real-time monitoring and conflict warning system for low-altitude aircraft

Abstract

The present invention provides a low-altitude aircraft real-time supervision and conflict warning system, which relates to the technical field of supervision and warning. The system comprises: performing multi-source data collection on low-altitude aircraft to obtain real-time flight data; constructing a low-altitude aircraft supervision and warning platform, transmitting the real-time flight data to the low-altitude aircraft supervision and warning platform for data fusion processing, and outputting the real-time supervision data of the low-altitude aircraft; when it is determined that there is a possibility of conflict between the low-altitude aircraft and the aircraft, predicting the current flight route of the low-altitude aircraft according to the real-time supervision data, combining the preset flight route and the conflicting flight routes of other low-altitude aircraft in the same flight area, predicting the flight conflict point, and generating conflict warning data; dynamically controlling the flight route of the low-altitude aircraft, eliminating the flight conflict point and performing conflict control on the low-altitude aircraft; effectively realizing the flight supervision of the low-altitude aircraft and ensuring the flight safety of the low-altitude aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of supervision and early warning, and in particular to a low-altitude aircraft real-time supervision and conflict early warning system. Background Art

[0002] With the widespread application of low-altitude aircraft in urban airspace, agricultural operations, environmental monitoring and other fields, low-altitude airspace has become increasingly congested, and low-altitude aircraft will inevitably encounter flight conflicts in the process, seriously affecting flight safety. In addition, low-altitude aircraft have safety hazards such as flight path deviation and illegal flight during flight, and existing technologies do not provide sufficient supervision for low-altitude aircraft.

[0003] Therefore, the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system. Summary of the invention

[0004] The present invention provides a low-altitude aircraft real-time supervision and conflict warning system. The system acquires real-time flight data of the low-altitude aircraft by performing multi-source data collection on the low-altitude aircraft; constructs a low-altitude aircraft supervision and warning platform, transmits the real-time flight data to the low-altitude aircraft supervision and warning platform for data fusion processing, and outputs the real-time supervision data of the low-altitude aircraft according to the data fusion processing result; when it is determined that there is a possibility of conflict between the low-altitude aircraft and the aircraft, predicts the current flight route of the low-altitude aircraft according to the real-time supervision data of the low-altitude aircraft, predicts the flight conflict point in combination with the preset flight route and the conflict flight routes of other low-altitude aircraft in the same flight area, and generates conflict warning data; dynamically controls the flight route of the low-altitude aircraft according to the conflict warning data, eliminates the flight conflict point, and performs conflict control on the low-altitude aircraft; effectively realizes the flight supervision of the low-altitude aircraft and ensures the flight safety of the low-altitude aircraft.

[0005] The present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, comprising:

[0006] The data acquisition module is used to collect multi-source data of low-altitude aircraft and obtain real-time flight data of low-altitude aircraft;

[0007] The real-time monitoring module is used to build a low-altitude aircraft monitoring and early warning platform, transmit the real-time flight data to the low-altitude aircraft monitoring and early warning platform for data fusion processing, and output the real-time monitoring data of the low-altitude aircraft according to the data fusion processing results;

[0008] The conflict warning module is used to predict the current flight path of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft when it is determined that there is a possibility of conflict between the low-altitude aircraft and the flight paths of other low-altitude aircraft in the same flight area, predict the flight conflict point, and generate conflict warning data;

[0009] The conflict control module is used to dynamically control the flight path of low-altitude aircraft according to conflict warning data, eliminate flight conflict points, and perform conflict control on low-altitude aircraft.

[0010] According to a low-altitude aircraft real-time monitoring and conflict warning system provided by the present invention, the data acquisition module includes:

[0011] The multi-source data unit is used to obtain the multi-source data supervision source of the low-altitude aircraft and collect multi-source data of the low-altitude aircraft, wherein the multi-source data supervision source includes: satellite supervision source, ground supervision source and the UAV's own supervision source;

[0012] The flight data unit is used to process the multi-source data collection results, unify the data format, merge the same data, and obtain the real-time flight data of low-altitude aircraft.

[0013] According to a low-altitude aircraft real-time monitoring and conflict warning system provided by the present invention, the real-time monitoring module includes:

[0014] The platform construction unit is used to obtain the real-time supervision and conflict warning requirements of low-altitude aircraft, set the platform architecture, and build a low-altitude aircraft supervision and warning platform, wherein the platform architecture includes: data transmission architecture, data fusion architecture, real-time supervision architecture, and conflict warning architecture;

[0015] Establish a data transmission channel between the low-altitude aircraft supervision and warning platform and the multi-source data supervision source based on the data transmission architecture;

[0016] The data transmission unit is used to transmit real-time flight data to the low-altitude aircraft supervision and early warning platform according to the data transmission channel.

[0017] According to a low-altitude aircraft real-time monitoring and conflict warning system provided by the present invention, the real-time monitoring module includes:

[0018] A data fusion unit is used to perform data fusion processing on the real-time flight data transmitted to the low-altitude aircraft supervision and warning platform according to a preset data fusion strategy, wherein the preset data fusion strategy includes: a deep learning fusion strategy and a Kalman filter fusion strategy;

[0019] The supervision data unit is used to output the real-time supervision data of the low-altitude aircraft from the data fusion processing results according to the real-time supervision requirements of the low-altitude aircraft, wherein the real-time supervision requirements of the low-altitude aircraft include: flight position supervision requirements, flight area supervision requirements, flight status supervision requirements, flight data supervision requirements and flight environment supervision requirements.

[0020] According to a low-altitude aircraft real-time monitoring and conflict warning system provided by the present invention, the conflict warning module includes:

[0021] A conflict determination unit is used to obtain the current flight position data and current flight area of ​​the low-altitude aircraft according to the real-time supervision data of the low-altitude aircraft. If the number of low-altitude aircraft in the current flight area is not less than the preset flight number, it is determined that there is a possibility of conflict between the low-altitude aircraft and the current flight area is marked as a conflict flight area;

[0022] A preset flight route of the low-altitude aircraft is obtained, a preset flight area of ​​the preset flight route of the low-altitude aircraft is obtained, a conflict determination is performed on the preset flight area area by area, and a pre-conflict flight area is determined according to the result of the conflict determination on the area by area basis.

[0023] According to a low-altitude aircraft real-time monitoring and conflict warning system provided by the present invention, the conflict warning module includes:

[0024] The warning activation unit is used to activate the conflict warning architecture of the low-altitude aircraft supervision and warning platform to issue conflict warning to the low-altitude aircraft when the low-altitude aircraft flies to the pre-conflict flight area or the conflict flight area;

[0025] A flight prediction unit, used to predict the current flight path of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft, which is recorded as the predicted flight path of the low-altitude aircraft;

[0026] A conflict range unit, used to set the conflict range of the low-altitude aircraft according to the equipment parameter data of the low-altitude aircraft and divide the conflict range according to the historical flight data, wherein the conflict range includes: a low conflict range, a medium conflict range and a high conflict range;

[0027] When other low-altitude aircraft are within the low-conflict range of the low-altitude aircraft, it is determined that there is no flight collision between the low-altitude aircraft and other low-altitude aircraft;

[0028] When other low-altitude aircraft are within the medium conflict range of the low-altitude aircraft, it is determined that there may be a flight collision between the low-altitude aircraft and other low-altitude aircraft;

[0029] When other low-altitude aircraft are within the high conflict range of the low-altitude aircraft, it is determined that the low-altitude aircraft has collided with other low-altitude aircraft;

[0030] The flight area stratification unit is used to establish a coordinate system according to the conflicting flight area, to perform altitude stratification on the conflicting flight area coordinate system according to the low conflict range of the low-altitude aircraft, and to obtain the flight area altitude layer;

[0031] A conflict flight route unit is used to obtain the current flight area altitude layer of the low-altitude aircraft, obtain other low-altitude aircraft in the same flight area altitude layer according to the current flight area altitude layer, and set the conflict time window and conflict space window of the low-altitude aircraft according to the low conflict range, and obtain the flight route of the other low-altitude aircraft. If the flight route of the other low-altitude aircraft and the preset flight route of the low-altitude aircraft exist at the same time in the conflict time window and the conflict space window, the flight route of the other low-altitude aircraft is determined to be a conflict flight route;

[0032] A flight route selection unit is used to set a route error threshold, obtain prediction accuracy based on historical predicted flight route data, obtain route errors between a preset flight route and a predicted flight route, perform weighted processing based on the prediction accuracy, and select the predicted flight route for conflict prediction if the route error after weighted processing is lower than the route error threshold;

[0033] If the route error after weighted processing is not less than the route error threshold, the preset flight route is selected for conflict prediction;

[0034] A conflict prediction unit is used to determine the flight speed law of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft, and predict the flight conflict point between the low-altitude aircraft and other low-altitude aircraft in combination with the flight route selected for conflict prediction;

[0035] The flight collision unit is used to obtain the relative position data and flight speed data of the low-altitude aircraft and other aircraft, and calculate the flight collision probability of the flight conflict point when other aircraft are in the medium conflict range of the low-altitude aircraft;

[0036] ;in, The flight collision probability representing the flight conflict point; Indicates Initial relative position data of other low-altitude aircraft and the low-altitude aircraft; Indicates Initial relative flight speed data of other low-altitude aircraft and the low-altitude aircraft; Indicates The predicted time point when the minimum relative position data between the other low-altitude aircraft and the low-altitude aircraft is reached; Indicates The predicted minimum relative position data of other low-altitude aircraft and the low-altitude aircraft; Indicates the lower limit data of low conflict range of low-altitude aircraft; Indicates that when the minimum relative position data is not higher than the lower limit data of the low conflict range, the predicted minimum relative position data is output, otherwise, the lower limit data of the low conflict range is output; Indicates the prediction accuracy of low-altitude aircraft; Indicates the number of other low-flying aircraft;

[0037] When other low-altitude aircraft are within the low-conflict range of low-altitude aircraft, the flight collision probability of the flight conflict point is adjusted to 0;

[0038] When other low-altitude aircraft are within the medium conflict range of low-altitude aircraft, the probability of flight collision at the flight conflict point remains unchanged;

[0039] When other low-altitude aircraft are within the high conflict range of low-altitude aircraft, the flight collision probability of the flight conflict point is adjusted to 1;

[0040] Eliminate the flight conflict points with a flight collision probability of 0 and a flight collision probability of 1;

[0041] The conflict warning unit is used to generate conflict warning data according to the flight conflict points that have been eliminated.

[0042] According to a low-altitude aircraft real-time monitoring and conflict warning system provided by the present invention, the conflict control module includes:

[0043] A conflict resolution unit is used to determine a real-time conflict resolution strategy for the low-altitude aircraft according to a preset conflict resolution strategy combined with the real-time supervision data of the low-altitude aircraft when conflict warning data is monitored, wherein the preset conflict resolution strategy includes: a flight speed adjustment strategy, a flight altitude adjustment strategy, and a flight direction adjustment strategy;

[0044] The conflict control unit is used to manually or automatically execute real-time conflict resolution strategies, resolve flight conflict points, and perform conflict control on low-altitude aircraft.

[0045] A low-altitude aircraft real-time monitoring and conflict warning system provided by the present invention also includes:

[0046] A control monitoring unit for continuous monitoring of low-altitude aircraft executing real-time deconfliction strategies;

[0047] A control effect unit is used to obtain the flight conflict points of low-altitude aircraft that implement the real-time conflict resolution strategy and the flight collision probability of the flight conflict points according to the continuous monitoring results, and when the number of flight conflict points decreases or the flight collision probability decreases, it is determined that the real-time conflict resolution strategy is effectively implemented;

[0048] Otherwise, the real-time conflict resolution strategy is redetermined.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] By collecting multi-source data of low-altitude aircraft, real-time flight data of low-altitude aircraft is obtained; a low-altitude aircraft supervision and early warning platform is constructed, and real-time flight data is transmitted to the low-altitude aircraft supervision and early warning platform for data fusion processing, and the real-time supervision data of low-altitude aircraft is output according to the data fusion processing result; when it is determined that there is a possibility of conflict between low-altitude aircraft and low-altitude aircraft, the current flight route of the low-altitude aircraft is predicted according to the real-time supervision data of the low-altitude aircraft, and the flight conflict point is predicted in combination with the preset flight route and the conflicting flight routes of other low-altitude aircraft in the same flight area, and the conflict warning data is generated; the flight route of the low-altitude aircraft is dynamically controlled according to the conflict warning data, the flight conflict point is eliminated, and the conflict control of the low-altitude aircraft is carried out; the flight supervision of low-altitude aircraft is effectively realized, and the flight safety of low-altitude aircraft is ensured.

[0051] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0052] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0054] Figure 1 It is a structural schematic diagram of a low-altitude aircraft real-time monitoring and conflict warning system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0056] Embodiment 1:

[0057] The embodiment of the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, such as Figure 1 As shown, including:

[0058] The data acquisition module is used to collect multi-source data of low-altitude aircraft and obtain real-time flight data of low-altitude aircraft;

[0059] The real-time monitoring module is used to build a low-altitude aircraft monitoring and early warning platform, transmit the real-time flight data to the low-altitude aircraft monitoring and early warning platform for data fusion processing, and output the real-time monitoring data of the low-altitude aircraft according to the data fusion processing results;

[0060] The conflict warning module is used to predict the current flight path of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft when it is determined that there is a possibility of conflict between the low-altitude aircraft and the flight paths of other low-altitude aircraft in the same flight area, predict the flight conflict point, and generate conflict warning data;

[0061] The conflict control module is used to dynamically control the flight path of low-altitude aircraft according to conflict warning data, eliminate flight conflict points, and perform conflict control on low-altitude aircraft.

[0062] In this embodiment, multi-source data collection refers to collecting data from low-altitude aircraft based on multi-source data supervision sources.

[0063] In this embodiment, the real-time flight data refers to data used to represent the flight of the low-altitude aircraft determined by processing the multi-source data collection results.

[0064] In this embodiment, the low-altitude aircraft monitoring and early warning platform refers to a platform for real-time monitoring and conflict early warning of low-altitude aircraft.

[0065] In this embodiment, the real-time monitoring data refers to the data of the low-altitude aircraft output from the data fusion processing result according to the real-time monitoring requirements of the low-altitude aircraft.

[0066] In this embodiment, the conflicting flight routes refer to the flight routes of other low-altitude aircraft that conflict with the flight of the low-altitude aircraft.

[0067] In this embodiment, the flight conflict point refers to a flight point where a low-altitude aircraft is predicted to conflict or collide with other low-altitude aircraft.

[0068] In this embodiment, the conflict warning data refers to data generated based on the flight collision probability and used to ensure the flight safety of low-altitude aircraft.

[0069] In this embodiment, conflict control refers to the control of the low-altitude aircraft by resolving flight conflict points according to manual or automatic execution of real-time conflict resolution strategies.

[0070] The working principle and beneficial effects of the above technical solution are: by collecting multi-source data of low-altitude aircraft, real-time flight data of low-altitude aircraft is obtained; a low-altitude aircraft supervision and early warning platform is constructed, and real-time flight data is transmitted to the low-altitude aircraft supervision and early warning platform for data fusion processing, and the real-time supervision data of the low-altitude aircraft is output according to the data fusion processing result; when it is determined that there is a possibility of conflict between low-altitude aircraft and low-altitude aircraft, the current flight route of the low-altitude aircraft is predicted according to the real-time supervision data of the low-altitude aircraft, and the flight conflict point is predicted in combination with the preset flight route and the conflicting flight routes of other low-altitude aircraft in the same flight area, and conflict warning data is generated; the flight route of the low-altitude aircraft is dynamically controlled according to the conflict warning data, the flight conflict point is eliminated, and the low-altitude aircraft is conflict controlled; the flight supervision of low-altitude aircraft is effectively realized, and the flight safety of low-altitude aircraft is ensured.

[0071] Embodiment 2:

[0072] The embodiment of the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, a data acquisition module, including:

[0073] The multi-source data unit is used to obtain the multi-source data supervision source of the low-altitude aircraft and collect multi-source data of the low-altitude aircraft, wherein the multi-source data supervision source includes: satellite supervision source, ground supervision source and the UAV's own supervision source;

[0074] The flight data unit is used to process the multi-source data collection results, unify the data format, merge the same data, and obtain the real-time flight data of low-altitude aircraft.

[0075] In this embodiment, the multi-source data supervision source refers to a device source used to supervise low-altitude aircraft, such as a satellite supervision source, a ground supervision source, and the UAV's own supervision source.

[0076] In this embodiment, multi-source data collection refers to collecting data from low-altitude aircraft based on multi-source data supervision sources.

[0077] In this embodiment, the real-time flight data refers to data used to represent the flight of the low-altitude aircraft determined by processing the multi-source data collection results.

[0078] The working principle and beneficial effects of the above technical solution are: by collecting multi-source data on low-altitude aircraft, real-time flight data of low-altitude aircraft is obtained, laying a flight data foundation for subsequent real-time supervision of low-altitude aircraft and conflict warning.

[0079] Embodiment 3:

[0080] The embodiment of the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, and a real-time monitoring module, including:

[0081] The platform construction unit is used to obtain the real-time supervision and conflict warning requirements of low-altitude aircraft, set the platform architecture, and build a low-altitude aircraft supervision and warning platform, wherein the platform architecture includes: data transmission architecture, data fusion architecture, real-time supervision architecture, and conflict warning architecture;

[0082] Establish a data transmission channel between the low-altitude aircraft supervision and warning platform and the multi-source data supervision source based on the data transmission architecture;

[0083] The data transmission unit is used to transmit real-time flight data to the low-altitude aircraft supervision and early warning platform according to the data transmission channel.

[0084] In this embodiment, the real-time supervision demand refers to the supervision and management demand for the flight of low-altitude aircraft, such as monitoring the flight speed of low-altitude aircraft and managing the flight area of ​​low-altitude aircraft.

[0085] In this embodiment, the conflict warning requirement refers to the requirement to avoid conflict collisions between low-altitude aircraft and to warn of conflict collisions, so as to ensure the flight safety of low-altitude aircraft.

[0086] In this embodiment, the platform architecture refers to the architecture used by the platform to implement corresponding functions.

[0087] In this embodiment, the low-altitude aircraft monitoring and early warning platform refers to a platform for real-time monitoring and conflict early warning of low-altitude aircraft.

[0088] In this embodiment, the data transmission channel refers to a channel used to transmit real-time flight data, which is used to ensure data transmission security and data transmission efficiency.

[0089] The working principle and beneficial effects of the above technical solution are: by constructing a low-altitude aircraft supervision and early warning platform, real-time flight data is transmitted to the low-altitude aircraft supervision and early warning platform, which is conducive to the subsequent use of real-time flight data and lays a platform foundation for subsequent real-time supervision of low-altitude aircraft and conflict warning.

[0090] Embodiment 4:

[0091] The embodiment of the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, and a real-time monitoring module, including:

[0092] A data fusion unit is used to perform data fusion processing on the real-time flight data transmitted to the low-altitude aircraft supervision and warning platform according to a preset data fusion strategy, wherein the preset data fusion strategy includes: a deep learning fusion strategy and a Kalman filter fusion strategy;

[0093] The supervision data unit is used to output the real-time supervision data of the low-altitude aircraft from the data fusion processing results according to the real-time supervision requirements of the low-altitude aircraft, wherein the real-time supervision requirements of the low-altitude aircraft include: flight position supervision requirements, flight area supervision requirements, flight status supervision requirements, flight data supervision requirements and flight environment supervision requirements.

[0094] In this embodiment, real-time supervision data refers to the data of the low-altitude aircraft output from the data fusion processing results according to the real-time supervision requirements of the low-altitude aircraft, such as the flight position data, flight area data, flight altitude data, and flight status data of the low-altitude aircraft.

[0095] In this embodiment, the low-altitude aircraft is supervised in real time according to the real-time supervision data, for example, the low-altitude aircraft is controlled to fly within a set flight altitude range.

[0096] The working principle and beneficial effects of the above technical solution are: by performing data fusion processing on real-time flight data and outputting real-time supervision data of low-altitude aircraft, real-time supervision of low-altitude flight is effectively achieved.

[0097] Embodiment 5:

[0098] The embodiment of the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, and a conflict warning module, including:

[0099] A conflict determination unit is used to obtain the current flight position data and current flight area of ​​the low-altitude aircraft according to the real-time supervision data of the low-altitude aircraft. If the number of low-altitude aircraft in the current flight area is not less than the preset flight number, it is determined that there is a possibility of conflict between the low-altitude aircraft and the current flight area is marked as a conflict flight area;

[0100] A preset flight route of the low-altitude aircraft is obtained, a preset flight area of ​​the preset flight route of the low-altitude aircraft is obtained, a conflict determination is performed on the preset flight area area by area, and a pre-conflict flight area is determined according to the result of the conflict determination on the area by area basis.

[0101] In this embodiment, the conflict flight area refers to an area where there is a possibility of conflict between low-altitude aircraft and the low-altitude aircraft needs to be warned of conflict.

[0102] In this embodiment, the pre-conflict flight area refers to an area where there is a possibility of conflict when a low-altitude aircraft flies to the flight area, as determined based on the area-by-area conflict determination result.

[0103] In this embodiment, the conflict flight area is an area determined by determining the possibility of conflict for low-altitude aircraft in the current flight area, and is used for real-time analysis of the possibility of conflict; and the pre-conflict flight area is an area determined by determining the possibility of conflict for low-altitude aircraft in the preset flight area, and is used for early analysis of the possibility of conflict.

[0104] The working principle and beneficial effect of the above technical solution are: by marking the conflict flight area and the pre-conflict flight area, it is conducive to the subsequent timely conflict warning of low-altitude aircraft, thereby ensuring the flight safety of low-altitude aircraft.

[0105] Embodiment 6:

[0106] The embodiment of the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, and a conflict warning module, including:

[0107] The warning activation unit is used to activate the conflict warning architecture of the low-altitude aircraft supervision and warning platform to issue conflict warning to the low-altitude aircraft when the low-altitude aircraft flies to the pre-conflict flight area or the conflict flight area;

[0108] A flight prediction unit, used to predict the current flight path of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft, which is recorded as the predicted flight path of the low-altitude aircraft;

[0109] A conflict range unit, used to set the conflict range of the low-altitude aircraft according to the equipment parameter data of the low-altitude aircraft and divide the conflict range according to the historical flight data, wherein the conflict range includes: a low conflict range, a medium conflict range and a high conflict range;

[0110] When other low-altitude aircraft are within the low-conflict range of the low-altitude aircraft, it is determined that there is no flight collision between the low-altitude aircraft and other low-altitude aircraft;

[0111] When other low-altitude aircraft are within the medium conflict range of the low-altitude aircraft, it is determined that there may be a flight collision between the low-altitude aircraft and other low-altitude aircraft;

[0112] When other low-altitude aircraft are within the high conflict range of the low-altitude aircraft, it is determined that the low-altitude aircraft has collided with other low-altitude aircraft;

[0113] The flight area stratification unit is used to establish a coordinate system according to the conflicting flight area, to perform altitude stratification on the conflicting flight area coordinate system according to the low conflict range of the low-altitude aircraft, and to obtain the flight area altitude layer;

[0114] A conflict flight route unit is used to obtain the current flight area altitude layer of the low-altitude aircraft, obtain other low-altitude aircraft in the same flight area altitude layer according to the current flight area altitude layer, and set the conflict time window and conflict space window of the low-altitude aircraft according to the low conflict range, and obtain the flight route of the other low-altitude aircraft. If the flight route of the other low-altitude aircraft and the preset flight route of the low-altitude aircraft exist at the same time in the conflict time window and the conflict space window, the flight route of the other low-altitude aircraft is determined to be a conflict flight route;

[0115] A flight route selection unit is used to set a route error threshold, obtain prediction accuracy based on historical predicted flight route data, obtain route errors between a preset flight route and a predicted flight route, perform weighted processing based on the prediction accuracy, and select the predicted flight route for conflict prediction if the route error after weighted processing is lower than the route error threshold;

[0116] If the route error after weighted processing is not less than the route error threshold, the preset flight route is selected for conflict prediction;

[0117] A conflict prediction unit is used to determine the flight speed law of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft, and predict the flight conflict point between the low-altitude aircraft and other low-altitude aircraft in combination with the flight route selected for conflict prediction;

[0118] The flight collision unit is used to obtain the relative position data and flight speed data of the low-altitude aircraft and other aircraft, and calculate the flight collision probability of the flight conflict point when other aircraft are in the medium conflict range of the low-altitude aircraft;

[0119] ;in, The flight collision probability representing the flight conflict point; Indicates Initial relative position data of other low-altitude aircraft and the low-altitude aircraft; Indicates Initial relative flight speed data of other low-altitude aircraft and the low-altitude aircraft; Indicates The predicted time point when the minimum relative position data between the other low-altitude aircraft and the low-altitude aircraft is reached; Indicates The predicted minimum relative position data of other low-altitude aircraft and the low-altitude aircraft; Indicates the lower limit data of low conflict range of low-altitude aircraft; Indicates that when the minimum relative position data is not higher than the lower limit data of the low conflict range, the predicted minimum relative position data is output, otherwise, the lower limit data of the low conflict range is output; Indicates the prediction accuracy of low-altitude aircraft; Indicates the number of other low-flying aircraft;

[0120] When other low-altitude aircraft are within the low-conflict range of low-altitude aircraft, the flight collision probability of the flight conflict point is adjusted to 0;

[0121] When other low-altitude aircraft are within the medium conflict range of low-altitude aircraft, the probability of flight collision at the flight conflict point remains unchanged;

[0122] When other low-altitude aircraft are within the high conflict range of low-altitude aircraft, the flight collision probability of the flight conflict point is adjusted to 1;

[0123] Eliminate the flight conflict points with a flight collision probability of 0 and a flight collision probability of 1;

[0124] The conflict warning unit is used to generate conflict warning data according to the flight conflict points that have been eliminated.

[0125] In this embodiment, when a low-altitude aircraft flies to a pre-conflict flight area or a conflict flight area, the conflict warning architecture of the low-altitude aircraft supervision and warning platform is activated to provide a conflict warning to the low-altitude aircraft, thereby ensuring that the conflict warning is activated in a timely and effective manner.

[0126] In this embodiment, the predicted flight route is a flight route determined by predicting the current flight route of the low-altitude aircraft based on the real-time monitoring data of the low-altitude aircraft.

[0127] In this embodiment, the equipment parameter data is obtained based on the low-altitude aircraft's own monitoring source, for example, the volume size parameter data of the low-altitude aircraft.

[0128] In this embodiment, the conflict range refers to a range within which low-altitude aircraft may conflict during flight.

[0129] In this embodiment, the conflict range of the low-altitude aircraft is set according to the equipment parameter data of the low-altitude aircraft. For example, the larger the volume size parameter data of the low-altitude aircraft is, the larger the conflict range is.

[0130] In this embodiment, the flight area altitude layer refers to the flight layer obtained by highly stratifying the conflict flight area coordinate system according to the low conflict range of low-altitude aircraft, which is used to simplify the flight area and improve the efficiency of subsequent conflict warning.

[0131] In this embodiment, the conflict flight area coordinate system is highly layered according to the low conflict range of the low-altitude aircraft, which ensures both the accuracy and efficiency of the conflict warning.

[0132] In this embodiment, the current flight area altitude layer refers to the flight area altitude layer of the low-altitude aircraft in the current period.

[0133] In this embodiment, other low-altitude aircraft in the same flight area altitude layer are obtained according to the current flight area altitude layer, that is, it is determined that there is no flight collision between other low-altitude aircraft in other flight area altitude layers and the low-altitude aircraft in the current flight area altitude layer, which is used to simplify the conflict warning analysis.

[0134] In this embodiment, the conflict time window refers to a time window for analyzing conflict collisions, and the conflict space window refers to a space window for analyzing conflict collisions.

[0135] In this embodiment, the conflicting flight routes refer to the flight routes of other low-altitude aircraft that conflict with the flight of the low-altitude aircraft and are determined based on the conflicting time window and the conflicting space window.

[0136] In this embodiment, the route error threshold refers to the acceptable route error between the preset flight route and the predicted flight route. When there is a route error between the predicted flight route and the preset flight route, it is considered that the flight of the low-altitude aircraft has deviated. When the route error between the predicted flight route and the preset flight route is not higher than the route error threshold, the predicted flight route is acceptable, and there is no need to conduct flight route supervision on the low-altitude aircraft. The predicted flight route is selected for conflict prediction.

[0137] In this embodiment, if the route error after weighted processing is not lower than the route error threshold, it means that an unacceptable deviation has occurred in the flight route of the low-altitude aircraft, and the low-altitude aircraft needs to be supervised and processed according to the preset flight route, and the low-altitude aircraft needs to be adjusted to the preset flight route. Therefore, the preset flight route is selected for conflict prediction.

[0138] In this embodiment, the prediction accuracy refers to the accuracy of predicting the flight path of the low-altitude aircraft.

[0139] In this embodiment, the route error between the preset flight route and the predicted flight route is obtained, and weighted processing is performed according to the prediction accuracy to ensure the accuracy of the route error.

[0140] In this embodiment, the flight speed pattern of the low-altitude aircraft is determined based on the real-time monitoring data of the low-altitude aircraft, for example, a fixed flight speed, a gradually increasing flight speed, or a gradually decreasing flight speed.

[0141] In this embodiment, the flight conflict point refers to a flight point where a low-altitude aircraft is predicted to conflict or collide with other low-altitude aircraft.

[0142] In this embodiment, the number of flight conflict points is not unique, and the same flight conflict point may have flight conflicts with multiple other low-altitude aircraft.

[0143] In this embodiment, the flight collision probability refers to the probability of a flight collision between low-altitude aircraft at a flight conflict point.

[0144] In this embodiment, the predicted time point refers to the time point at which the low-altitude aircraft is predicted to reach the minimum relative position data with other low-altitude aircraft.

[0145] In this embodiment, the predicted minimum relative position data refers to the predicted minimum relative position data between the low-altitude aircraft and other low-altitude aircraft.

[0146] In this embodiment, the low-conflict range lower limit data refers to the minimum distance range within which low-altitude aircraft do not have a flight collision, that is, the minimum safe flight distance.

[0147] In this embodiment, flight conflict points with a flight collision probability of 0 and a flight collision probability of 1 are eliminated. When the flight collision probability is 0, the flight is safe and no conflict warning is required; when the flight collision probability is 1, the flight route of the low-altitude aircraft should be adjusted in the previous period.

[0148] In this embodiment, the conflict warning data refers to data generated based on the flight collision probability and used to ensure the flight safety of low-altitude aircraft.

[0149] The working principle and beneficial effects of the above technical solution are: when it is determined that there is a possibility of conflict between low-altitude aircraft, the current flight route of the low-altitude aircraft is predicted based on the real-time supervision data of the low-altitude aircraft, and the flight conflict point is predicted based on the preset flight route and the conflicting flight routes of other low-altitude aircraft in the same flight area, and conflict warning data is generated, which is conducive to subsequent conflict control based on the conflict warning data, thereby ensuring the flight safety of the low-altitude aircraft.

[0150] Embodiment 7:

[0151] The embodiment of the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, a conflict control module, including:

[0152] A conflict resolution unit is used to determine a real-time conflict resolution strategy for the low-altitude aircraft according to a preset conflict resolution strategy combined with the real-time supervision data of the low-altitude aircraft when conflict warning data is monitored, wherein the preset conflict resolution strategy includes: a flight speed adjustment strategy, a flight altitude adjustment strategy, and a flight direction adjustment strategy;

[0153] The conflict control unit is used to manually or automatically execute real-time conflict resolution strategies, resolve flight conflict points, and perform conflict control on low-altitude aircraft.

[0154] In this embodiment, the preset conflict resolution strategy refers to a strategy for resolving conflicts between a low-altitude aircraft and other low-altitude aircraft, such as adjusting the flight speed, flight altitude, and flight direction of the low-altitude aircraft.

[0155] In this embodiment, the real-time conflict resolution strategy refers to the current conflict resolution strategy of the low-altitude aircraft.

[0156] In this embodiment, conflict control refers to the control of the low-altitude aircraft by resolving flight conflict points according to manual or automatic execution of real-time conflict resolution strategies.

[0157] In this embodiment, manual execution refers to performing conflict control according to user operations, and automatic execution refers to performing conflict control according to a real-time conflict resolution strategy.

[0158] The working principle and beneficial effects of the above technical solution are: by dynamically controlling the flight path of the low-altitude aircraft according to the conflict warning data, eliminating the flight conflict points, and performing conflict control on the low-altitude aircraft, the flight safety of the low-altitude aircraft is effectively ensured.

[0159] Embodiment 8:

[0160] The embodiment of the present invention provides a low-altitude aircraft real-time monitoring and conflict warning system, which also includes:

[0161] A control monitoring unit for continuous monitoring of low-altitude aircraft executing real-time deconfliction strategies;

[0162] A control effect unit is used to obtain the flight conflict points of low-altitude aircraft that implement the real-time conflict resolution strategy and the flight collision probability of the flight conflict points according to the continuous monitoring results, and when the number of flight conflict points decreases or the flight collision probability decreases, it is determined that the real-time conflict resolution strategy is effectively implemented;

[0163] Otherwise, the real-time conflict resolution strategy is redetermined.

[0164] In this embodiment, the low-altitude aircraft executing the real-time conflict resolution strategy is continuously monitored, and the continuous monitoring period is determined according to the flight collision probability of the flight conflict point of the low-altitude aircraft. The higher the flight collision probability, the longer the continuous monitoring period.

[0165] The working principle and beneficial effect of the above technical solution are: by continuously monitoring the low-altitude aircraft that implements the real-time conflict resolution strategy and determining the control effect, the flight safety of the low-altitude aircraft is further ensured.

[0166] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-altitude aircraft real-time monitoring and conflict warning system, characterized in that: include: The data acquisition module is used to collect multi-source data of low-altitude aircraft and obtain real-time flight data of low-altitude aircraft; The real-time monitoring module is used to build a low-altitude aircraft monitoring and early warning platform, transmit the real-time flight data to the low-altitude aircraft monitoring and early warning platform for data fusion processing, and output the real-time monitoring data of the low-altitude aircraft according to the data fusion processing results; The conflict warning module is used to predict the current flight path of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft when it is determined that there is a possibility of conflict between the low-altitude aircraft and the aircraft. It combines the preset flight path and the conflicting flight paths of other low-altitude aircraft in the same flight area to predict the flight conflict point and generate conflict warning data. Specifically, it includes: A conflict range unit, used to set the conflict range of the low-altitude aircraft according to the equipment parameter data of the low-altitude aircraft and divide the conflict range according to the historical flight data, wherein the conflict range includes: a low conflict range, a medium conflict range and a high conflict range; When other low-altitude aircraft are within the low-conflict range of the low-altitude aircraft, it is determined that there is no flight collision between the low-altitude aircraft and other low-altitude aircraft; When other low-altitude aircraft are within the medium conflict range of the low-altitude aircraft, it is determined that there may be a flight collision between the low-altitude aircraft and other low-altitude aircraft; When other low-altitude aircraft are within the high conflict range of the low-altitude aircraft, it is determined that the low-altitude aircraft has collided with other low-altitude aircraft; The flight collision unit is used to obtain the relative position data and flight speed data of the low-altitude aircraft and other aircraft, and calculate the flight collision probability of the flight conflict point when other aircraft are in the medium conflict range of the low-altitude aircraft; ; Where P represents the flight collision probability of the flight conflict point; represents the initial relative position data of the i1th other low-altitude aircraft and the low-altitude aircraft; represents the initial relative flight speed data between the i1th other low-altitude aircraft and the low-altitude aircraft; It represents the predicted time point when the minimum relative position data between the i1th other low-altitude aircraft and the low-altitude aircraft is reached; represents the predicted minimum relative position data of the i1th other low-altitude aircraft and the low-altitude aircraft; d1 represents the lower limit data of the low-conflict range of the low-altitude aircraft; It means that when the minimum relative position data is not higher than the lower limit data of the low conflict range, the predicted minimum relative position data is output, otherwise, the lower limit data of the low conflict range is output; p1 represents the prediction accuracy of the low-altitude aircraft; n1 represents the number of other low-altitude aircraft; When other low-altitude aircraft are within the low-conflict range of low-altitude aircraft, the flight collision probability of the flight conflict point is adjusted to 0; When other low-altitude aircraft are within the medium conflict range of low-altitude aircraft, the probability of flight collision at the flight conflict point remains unchanged; When other low-altitude aircraft are within the high conflict range of low-altitude aircraft, the flight collision probability of the flight conflict point is adjusted to 1; Eliminate the flight conflict points with a flight collision probability of 0 and a flight collision probability of 1; A conflict warning unit, used to generate conflict warning data according to the eliminated flight conflict points; The conflict control module is used to dynamically control the flight path of low-altitude aircraft according to conflict warning data, eliminate flight conflict points, and perform conflict control on low-altitude aircraft.

2. A low-altitude aircraft real-time monitoring and conflict warning system according to claim 1, characterized in that: Data acquisition module, including: The multi-source data unit is used to obtain the multi-source data supervision source of the low-altitude aircraft and collect multi-source data of the low-altitude aircraft, wherein the multi-source data supervision source includes: satellite supervision source, ground supervision source and the UAV's own supervision source; The flight data unit is used to process the multi-source data collection results, unify the data format, merge the same data, and obtain the real-time flight data of low-altitude aircraft.

3. A low-altitude aircraft real-time monitoring and conflict warning system according to claim 1, characterized in that: Real-time monitoring module, including: The platform construction unit is used to obtain the real-time supervision and conflict warning requirements of low-altitude aircraft, set the platform architecture, and build a low-altitude aircraft supervision and warning platform, wherein the platform architecture includes: data transmission architecture, data fusion architecture, real-time supervision architecture, and conflict warning architecture; Establish a data transmission channel between the low-altitude aircraft supervision and warning platform and the multi-source data supervision source based on the data transmission architecture; The data transmission unit is used to transmit real-time flight data to the low-altitude aircraft supervision and early warning platform according to the data transmission channel.

4. A low-altitude aircraft real-time monitoring and conflict warning system according to claim 3, characterized in that: Real-time monitoring module, including: A data fusion unit is used to perform data fusion processing on the real-time flight data transmitted to the low-altitude aircraft supervision and warning platform according to a preset data fusion strategy, wherein the preset data fusion strategy includes: a deep learning fusion strategy and a Kalman filter fusion strategy; The supervision data unit is used to output the real-time supervision data of the low-altitude aircraft from the data fusion processing results according to the real-time supervision requirements of the low-altitude aircraft, wherein the real-time supervision requirements of the low-altitude aircraft include: flight position supervision requirements, flight area supervision requirements, flight status supervision requirements, flight data supervision requirements and flight environment supervision requirements.

5. A low-altitude aircraft real-time monitoring and conflict warning system according to claim 1, characterized in that: Conflict warning module, including: A conflict determination unit is used to obtain the current flight position data and current flight area of ​​the low-altitude aircraft according to the real-time supervision data of the low-altitude aircraft. If the number of low-altitude aircraft in the current flight area is not less than the preset flight number, it is determined that there is a possibility of conflict between the low-altitude aircraft and the current flight area is marked as a conflict flight area; A preset flight route of the low-altitude aircraft is obtained, a preset flight area of ​​the preset flight route of the low-altitude aircraft is obtained, a conflict determination is performed on the preset flight area area by area, and a pre-conflict flight area is determined according to the result of the conflict determination on the area by area basis.

6. A low-altitude aircraft real-time monitoring and conflict warning system according to claim 1, characterized in that: Conflict warning module, including: The warning activation unit is used to activate the conflict warning architecture of the low-altitude aircraft supervision and warning platform to issue conflict warning to the low-altitude aircraft when the low-altitude aircraft flies to the pre-conflict flight area or the conflict flight area; A flight prediction unit, used to predict the current flight path of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft, which is recorded as the predicted flight path of the low-altitude aircraft; The flight area stratification unit is used to establish a coordinate system according to the conflicting flight area, to perform altitude stratification on the conflicting flight area coordinate system according to the low conflict range of the low-altitude aircraft, and to obtain the flight area altitude layer; A conflict flight route unit is used to obtain the current flight area altitude layer of the low-altitude aircraft, obtain other low-altitude aircraft in the same flight area altitude layer according to the current flight area altitude layer, and set the conflict time window and conflict space window of the low-altitude aircraft according to the low conflict range, and obtain the flight route of the other low-altitude aircraft. If the flight route of the other low-altitude aircraft and the preset flight route of the low-altitude aircraft exist at the same time in the conflict time window and the conflict space window, the flight route of the other low-altitude aircraft is determined to be a conflict flight route; A flight route selection unit is used to set a route error threshold, obtain prediction accuracy based on historical predicted flight route data, obtain route errors between a preset flight route and a predicted flight route, perform weighted processing based on the prediction accuracy, and select the predicted flight route for conflict prediction if the route error after weighted processing is lower than the route error threshold; If the route error after weighted processing is not less than the route error threshold, the preset flight route is selected for conflict prediction; The conflict prediction unit is used to determine the flight speed law of the low-altitude aircraft based on the real-time supervision data of the low-altitude aircraft, and predict the flight conflict point between the low-altitude aircraft and other low-altitude aircraft in combination with the flight route selected for conflict prediction.

7. A low-altitude aircraft real-time monitoring and conflict warning system according to claim 1, characterized in that: Conflict control module, including: A conflict resolution unit is used to determine a real-time conflict resolution strategy for the low-altitude aircraft according to a preset conflict resolution strategy combined with the real-time supervision data of the low-altitude aircraft when conflict warning data is monitored, wherein the preset conflict resolution strategy includes: a flight speed adjustment strategy, a flight altitude adjustment strategy, and a flight direction adjustment strategy; The conflict control unit is used to manually or automatically execute real-time conflict resolution strategies, resolve flight conflict points, and perform conflict control on low-altitude aircraft.

8. A low-altitude aircraft real-time monitoring and conflict warning system according to claim 1, characterized in that: Also includes: A control monitoring unit for continuous monitoring of low-altitude aircraft executing real-time deconfliction strategies; A control effect unit is used to obtain the flight conflict points of low-altitude aircraft that implement the real-time conflict resolution strategy and the flight collision probability of the flight conflict points according to the continuous monitoring results, and when the number of flight conflict points decreases or the flight collision probability decreases, it is determined that the real-time conflict resolution strategy is effectively implemented; Otherwise, the real-time conflict resolution strategy is redetermined.

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